Comparative analysis of pick & place strategies for a multi-robot application

Gaël Humbert 1 Minh Tu Pham 1 Xavier Brun 1 Mady Guillemot 2 Didier Noterman 3
1 MIS - Ampère, Département Méthodes pour l'Ingénierie des Systèmes
2 INSA Lyon - Institut National des Sciences Appliquées de Lyon
3 DISP - Décision et Information pour les Systèmes de Production
Abstract : This paper deals with a comparative analysis of different pick & place strategies. The purpose is to give some rules to obtain a good sizing in terms of components (number of robots, conveyor speed) and control laws (individual scheduling rules of each robot, collaborative strategy of all the robots) of a multi-robot cell. This approach is validated by the use of a new simulation tool combining a behavioral simulation of multiple robots and the product flows. This simulation tool takes into account not only the end effector, but also the robots collaborative aspect to ensure the desired overall performance for a given task.
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CNRS | INSA-GROUPE | TDS-MACS | DISP | AMPERE | EC-LYON | INSA-LYON | UNIV-LYON2 | UNIV-LYON1 | UDL

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Gaël Humbert, Minh Tu Pham, Xavier Brun, Mady Guillemot, Didier Noterman. Comparative analysis of pick & place strategies for a multi-robot application. 20th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA 2015), Sep 2015, Luxembourg, Luxembourg. ⟨10.1109/ETFA.2015.7301450⟩. ⟨hal-01225223⟩

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